Lower limb prosthesis

ABSTRACT

A lower limb prosthesis comprises an attachment section ( 10 ), a shin section ( 12 ), a foot section ( 14 ), a knee joint ( 16 ) pivotally connecting the attachment section ( 10 ) and the shin section ( 12 ), and an ankle joint ( 22 ) pivotally connecting the shin section ( 12 ) and the foot section ( 14 ). The knee joint includes a dynamically adjustable knee flexion control device ( 18 ) for damping knee flexion. The prosthesis further comprises a plurality of sensors ( 52, 53, 54, 85, 87 ) each arranged to generate sensor signals indicative of at least one respective kinetic or kinematic parameter of locomotion or of walking environment, and an electronic control system ( 100 ) coupled to the sensors ( 52, 53, 54, 85, 87 ) and to the knee flexion control device ( 18 ) in order dynamically and automatically to modify the flexion control setting of the knee joint ( 16 ) in response to signals from the sensors. When the inclination sensor signals indicate descent of a downward incline, the damping resistance of the knee flexion control device ( 18 ) is set to a first level during a major part of the stance phase of the gait cycle and to a second, lower level during a major part of the swing phase of the gait cycle. During an interval including a latter part of the stance phase, the knee flexion control device ( 18 ) is adjusted so that the damping resistance to knee flexion is between the first and second levels.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/403,025 (published as U.S. 2019/0358061) filed on May 3, 2019 andentitled “Lower Limb Prosthesis”, which application is a continuation ofU.S. application Ser. No. 14/364,637 (published as U.S. 2014/0379096 andissued as U.S. Pat. No. 10,285,827 on May 14, 2019) filed Jun. 11, 2014and entitled “Lower Limb Prosthesis with Knee Flexion Control duringDescent of a Downward Incline,” which application is a national stageapplication filed under 35 U.S.C. 371 of International Application No.PCT/GB2012/053106 filed Dec. 12, 2012, which application claims priorityfrom each of GB 1121437.6 filed Dec. 13, 2011; GB 1208410.9 filed May14, 2012; U.S. Provisional Application No. 61/580,887 filed Dec. 28,2011; and U.S. Provisional Application No. 61/647,016 filed May 15,2012. Each of the foregoing applications and priority documents ishereby incorporated by reference herein in its entirety.

This invention relates to a lower limb prosthesis including a knee jointand an ankle joint. Both the knee joint and the ankle joint includerespective flexion control devices actuated by an electronic controlsystem.

Known lower limb prostheses for above-knee amputees include prostheseswith adaptive control systems for controlling knee flexion during bothstance and swing phases of the walking cycle. Such a prosthesis isdisclosed in WO99/08621. In this example, the control system includessensors for sensing shin bending moment and knee flexion angle,corresponding electrical signals being fed to a processing circuit forautomatically adjusting hydraulic and pneumatic flexion control devices.Knee flexion is controlled in the stance phase in response to theactivity mode of the amputee, i.e. in response to changes between levelwalking, walking uphill, and walking downhill, and in the swing phase inresponse to walking speed. The disclosure of WO99/08621 is incorporatedherein by reference.

It is also known to provide dynamically variable damping of a prostheticankle joint as in, for example, WO2008/103917 and related U.S.application Ser. No. 13/150,694 filed Jun. 1, 2011, the disclosure ofwhich is incorporated herein by reference. In this example, the anklejoint includes an hydraulic piston and cylinder assembly providingindependent variation of damping resistance in dorsi-flexion andplantar-flexion directions in response to, e.g., ground inclination.

It is an object of the present invention to provide above-knee amputeeswith an electronically controlled prosthesis with improved limb functionin a wide range of conditions.

According to a first aspect of the invention, a lower limb prosthesiscomprises an attachment section, a shin section, a foot section, a kneejoint linking the attachment section and the shin section, and an anklejoint linking the shin section and foot section, wherein the knee jointincludes a knee flexion control device and the ankle joint includes anankle flexion control device, the prosthesis further comprising at leastone sensor associated with the knee joint and at least one sensorassociated with the ankle joint, each such sensor being arranged togenerate sensor signals indicative of at least one respective kinetic orkinematic parameter of activity or locomotion, or of walkingenvironment, wherein the prosthesis further comprises an electroniccontrol system coupled to the said sensors to receive the sensor signalsand to the flexion control devices to feed control signals to the saidcontrol devices in order dynamically and automatically to modify theflexion control settings of the knee joint and the ankle joint inresponse to the sensor signals, and wherein the arrangement of thesensors, the control devices and the electronic control system is suchthat, during locomotion, the flexion control settings of the knee jointand those of the ankle joint are each determined jointly by the sensorsignals from the sensor or sensors associated with the knee joint andthe sensor signals from the sensor or sensors associated with the anklejoint. In this way, it is possible to provide a lower limb prosthesisfor an above-knee or through-knee disarticulation amputee withintegrated microprocessor control. In particular, the limb may combinemicroprocessor control of a hybrid hydraulic, yielding stance andpneumatic swing control device in the knee together with hydrauliccontrol and dorsi-flexion damping (and, preferably, plantar-flexiondamping) of the ankle joint, bringing advantages in terms of coordinatedadjustment at both knee and ankle levels based on signals from sensorsplaced at optimum positions within the prosthesis, according to therespective sensed parameters. References to “flexion control” in thisspecification are to be interpreted in the general sense of includingcontrol of flexion and/or extension (rather than merely in the sense ofincreasing bending of a joint).

Integration of the control functions for the knee joint and the anklejoint, using inputs from sensors at the level of the knee and the levelof the ankle, allows more accurate measurement of kinetic and kinematicparameters associated with locomotion. For instance, sensors at thelevel of the ankle joint or foot are best suited to detecting changes insurface inclination whereas sensors associated with the knee joint arebest suited for sensing certain velocity and period parameters.

Integrated control may be achieved in a prosthesis with, for instance,fibre-reinforced composite leaf springs, and axial springs for absorbingmechanical energy, for improved function on a variety of terrains and atdifferent speeds of locomotion.

In one embodiment of the invention, the prosthesis has a sensorassociated with the ankle joint for generating a sensor signalindicative of a shin or ankle bending moment, the arrangement of thesensors, the control devices and the electronic control system beingsuch that, during locomotion, the flexion control settings of the kneejoint are adjusted in response to the shin or ankle bending moment.Alternatively, or in addition, the prosthesis may have a sensorassociated with the ankle joint in the form of an accelerometer mounted,e.g., on the prosthetic foot section, the flexion control settings ofthe knee joint being adjusted in response to signals from theaccelerometer.

The arrangement is preferably such that, during locomotion, the flexioncontrol settings of the knee joint are determined in response tosettings of the ankle flexion control device, the latter being a dampingdevice providing variable damping resistance. Signals representative ofwalking speed, e.g. signals representative of stride length and/or steprate, may be generated in the electronic control system in response tosensor signals from the sensor or sensors associated with the knee jointand the sensor signals from the sensor or sensors associated with theankle joint. Generally, the arrangement is such that the flexion controlsettings of the ankle joint are determined in response to such walkingspeed signals.

Additionally, in the preferred prosthesis, the flexion control settingsof the knee joint are modified in response to sensor signals indicativeof ground inclination, such signals being derived from an accelerometerassociated with the ankle joint. Indeed, the flexion control settings ofthe knee joint may be modified in response to a combination of sensorsignals representative of both ground inclination and the flexioncontrol settings of the ankle joint. It is preferred that control devicesettings effective to control flexion resistance at the knee during boththe stance phase and the swing phase are adjusted in response to sensedwalking speed.

A gyroscopic sensor may be mounted, for instance, on the shin section,i.e. at a location between the knee joint axis and the ankle joint axis.Alternatively, the gyroscope sensor may be mounted in the sagittal planeon the socket, or on the knee above the knee joint axis, or below theankle joint axis, e.g. on the foot. The sensor measures angularvelocity.

Other sensors forming part of the prosthesis may include at least onesensor measuring real time loads, e.g. externally applied bendingmoments and/or axial forces. Such sensors may be strain gauges. Shearforces on the foot components may be measured in this way using straingauges in the foot. Shear forces in the shin may be measured, e.g. bystrain gauges at the knee level, typically on the upper part of theshin, such as on a shin cradle connecting knee joint components to ashin tube. Sensors may also be included to detect both lineardisplacement and angular motion at the knee and at the ankle/foot level.Where velocity, orientation or acceleration measurements are required,accelerometers and gyroscopic sensors are preferred. Such measurementsmay be used to detect different environments, such as ramps and stairs,as well as predicting changes in speed of locomotion, changes in stridelength and events such as coming to a standstill, sitting down, startingand stopping locomotion, turning and maneuvering around obstacles.

Thus, the arrangement of the preferred electronic control system allowsdefinition of a climbing stairs mode. The sensors may include an ankleangle sensor and a knee angle sensor, the system being further arrangedsuch that the climbing stairs mode is activated when signals from theankle angle sensor and the knee angle sensor are indicative of the anklejoint being dorsi-flexed beyond a first dorsi-flexion threshold inconjunction with the knee joint being flexed beyond a first knee flexionthreshold.

Other activity modes may further comprise fast and slow walking modesand a descending stairs mode.

The arrangement of the sensors, the control devices and the electroniccontrol system is preferably such that the flexion control settings ofthe knee joint are responsive to activity mode. Similarly, the flexioncontrol settings of the ankle joint may be responsive to activity mode.

Typically, the flexion control settings of the knee joint and those ofthe ankle joint are responsive to sensor signals indicative of shinbending moment, knee flexion angle, ankle flexion angle, and groundinclination. Signals indicative of stride length and angular velocitymay also be used.

The arrangement may also be such that, during locomotion, the flexioncontrol settings of the ankle joint are modified to achieve apredetermined shin bending moment profile, preferably one in which,during the stance phase of the gait cycle, a graph plotting bendingmoment with time has a stepped shape. More than one preferred bendingmoment profile can be used, depending on, e.g., activity mode, adetected gait parameter such as walking speed or stride length, orground inclination. The stepped shape of the bending moment profile ischaracterised by a first period in which the bending moment increaseswith a first gradient, followed by a second period in which the momentincreases with a second gradient which is less than the first gradient,followed by a third period in which the gradient reverts to a levelsimilar to that of the first period, the arrangement being such that ifthe bending moment profile does not exhibit the said stepped shape, thestance phase plantar-flexion resistance of the ankle flexion controldevice is increased and/or the stance phase dorsi-flexion resistance ofthe ankle flexion control device is decreased. Typically, the durationof the third period of the stepped bending moment profile shape is atleast half, preferably at least 80 percent of that of the second period.The control settings may be adjusted to achieve different bendingmoments for different activities including, for instance, groundinclination, step rate or stride length.

In the case of the prosthesis including an ankle flexion angle sensor,the control system may be arranged such that, if the area under thedorsi-flexion curve with respect to time during the stance phase exceedsa respective predetermined area threshold, the stance phaseplantar-flexion resistance of the ankle flexion control device isincreased and/or the stance phase dorsi-flexion resistance of the ankleflexion control device is decreased.

The arrangement may be such that the plantar-flexion and dorsi-flexionresistance at the ankle are dynamically and automatically adjustedduring locomotion to cause the shin bending moment profile to exhibit astep-shaped increase during the stance phase and/or to reduce the ankledorsi-flexion amplitude during the stance phase.

Modifications or adjustments of the ankle joint flexion resistance orresistances are typically performed in a calibration mode of theelectronic control system, thereby to establish flexion resistancesettings which are used during subsequent locomotion in response tosensor output signals representative of the above-mentioned kinetic orkinematic parameter or parameters of locomotion, or of walkingenvironment.

With regard to the composition of the electronic control system, asingle microprocessor controller may be used or there may be a centralcontroller and one or more subsidiary controllers. At least one of suchcontrollers receives signals from the sensors, the respective measuredparameters being used to define activity modes, such as level walking,walking up a ramp, walking down a ramp, fast walking, slow walking,etc., as input values to a multiple-layer matrix containing controloutput values to form the basis for selected output signals for settingmechanical control devices in the knee joint and ankle joint.Combinations of such modes are allowed by the multi-layer matrix. Theactivity mode may distinguish between stride length and step rate, giventhat any particular speed of locomotion may be achieved by thecombination of a low step rate and a large stride length or that of ahigh step rate and a small stride length. Activity modes may, therefore,include slow short steps, fast short steps, slow long steps, and fastlong steps. Starting and stopping steps may also be sensed and takeninto account. In particular, each activity mode, detected by processingthe sensor signals, has associated matrix values defining ankle jointand knee joint flexion resistance settings pre-selected for that mode.In the preferred prosthesis, the settings relate to hydraulic andpneumatic control devices for the knee joint, controlling flexionresistance in the stance phase and swing phase respectively, and acontrol device or devices for resisting plantar- and dorsi-flexion ofthe ankle joint. Such devices may comprise linear or rotary pistons orvanes which are reciprocable in chambers containing a fluid medium,whether liquid or gas. Valves and motors allow damping to be varied bycontrolling the flow of fluid and, thereby, the movement of the pistonand vane in each case.

Settings are preferably established during a teaching or calibrationmode which may be under the control of a prosthetist or are carried outaccording to an automatic calibration process. EP2334891 andWO2007/110585 disclose techniques for setting swing phase resistanceautomatically. The disclosures of these published patent applicationsand equivalent U.S. application Ser. No. 12/282,541 filed Sep. 11, 2008are expressly incorporated in the present application by reference.

During the calibration mode, individual locomotion characteristics aredetected and optimum values for, e.g., stance yield (flexionresistance), the degree of heel rise during the swing phase, the degreeof plantar-flexion resistance and dorsi-flexion resistance at preferredwalking speeds and terrain conditions are established. This calibrationdata can be refined further in an automatic manner through manualadjustment via input commands to the electronic control system usinginterface switches or via wireless or wired remote control.

In the preferred prosthesis, the control system adjusts the controldevice settings according to activity mode in order to achieve safeyield control of the knee joint as it is being loaded, optimum releaseof the yield to initiate swing with minimum user effort, and correctbraking of the ankle joint to enable natural movement and progression ofthe centre of mass of the amputee. Both plantar-flexion anddorsi-flexion are damped according to activity mode, to maximise thepropulsion push-off force from energy-storing elements of the prosthesisso that an energy-efficient, safe and comfortable movement is providedfor the user. Initially, settings are established for level walking at apreferred walking speed. The level of compensation and abnormaladjustment by the user is minimised as far as possible so as to give theperception of being pushed or assisted forward, the limb braking orassisting to control speed in as natural a manner as possible as theprosthesis strikes the ground. The matrix values established for levelwalking at the preferred walking speed are then adjusted to provide newmatrix values for slopes, different speeds, and non-walking modes. Inthe preferred prosthesis, the sensors and the remainder of the controlsystem can detect and distinguish between ascending and descendingramps, the degree of inclination of the ramps, ascending and descendingstairs, the speed of ascent or descent, the speed of walking from theslowest the amputee walks to the fastest, as well as sitting,standing-up from chairs, and other modes such as maneuvering to avoid anobstacle. The matrix has a number of matrix levels, at least one foreach activity mode.

According to a second aspect of the invention, there is provided a lowerlimb prosthesis comprising an attachment section, a shin section, a footsection, a knee joint linking the attachment section and the shinsection, and an ankle joint linking the shin section and foot section,wherein the knee joint includes a knee flexion control device and theankle joint includes an ankle flexion control device, the prosthesisfurther comprising a plurality of sensors arranged to generate sensorsignals indicative of at least one respective kinetic or kinematicparameter of locomotion, or of walking environment, the prosthesisfurther comprising an electronic control system coupled to the saidsensors to receive the sensor signals and to the flexion control devicesto feed control signals to the said control devices in order dynamicallyand automatically to modify the flexion control settings of the kneejoint and the ankle joint in response to the sensor signals, andwherein, the sensors include a sensor associated with the shin sectionwhich is arranged, in combination with the electronic control system, togenerate signals representative of a shin section bending moment, and tofeed control signals to the ankle flexion control device in response tothe signals representative of the shin section bending moment.Preferably, the ankle damping resistance is varied in response to thesensed bending moment and, more preferably, the knee damping resistanceas well.

According to a third aspect of the invention, there is provided a lowerlimb prosthesis comprising an attachment section, a shin section, a footsection, a knee joint pivotally connecting the attachment section andthe shin section, and an ankle joint pivotally connecting the shinsection and the foot section, the knee joint including a dynamicallyadjustable knee flexion control device for damping knee flexion, whereinthe prosthesis further comprises an inclination sensor associated withthe ankle joint or foot section and operable to generate inclinationsensor signals indicative of ground inclination, and an electroniccontrol system coupled to the inclination sensor and to the knee flexioncontrol device, the arrangement of the sensor, the electronic controlsystem and the knee flexion control device being such that the dampingresistance of the knee flexion control device is variable in response tothe inclination sensor signals. The damping resistance at the knee maybe controlled in part, also, by the values produced by the electroniccontrol system for ankle joint damping resistance. In a particularembodiment of the invention, the control system is arranged such thatwhen the inclination sensor signals indicate descent, the stance phaseresistance to flexion, in this case to bending of knee, is decreasedduring the stance phase. Thus, whereas during an initial part of thestance phase, the resistance to flexion is high such that the knee maybe nearly locked in order to provide stability during stance, in asubsequent part of the stance phase the resistance is decreased to allowgreater yielding under the load imposed by the amputee's weight in orderto prepare for the swing phase. The reduction in resistance may bestepped or progressive.

According to a fourth aspect of the invention, there is provided a lowerlimb prosthesis comprising an attachment section, a shin section, a footsection, a knee joint linking the attachment section and the shinsection, and an ankle joint linking the shin section and foot section,wherein the knee joint includes a knee flexion control device and theankle joint includes an ankle flexion control device, the prosthesisfurther comprising a sensor associated with the knee joint which iscoupled to the electronic control system and is arranged, in combinationwith the electronic control system, to generate signals indicative of aspeed of locomotion, wherein the ankle flexion control device is adevice capable of variably damping ankle joint flexion and arranged incombination with electronic control system to alter the resistance toankle flexion damping in response to the signals indicative of speed oflocomotion.

According to a fifth aspect of the invention, there is provided a lowerlimb prosthesis comprising an attachment section, a shin section, a footsection, a knee joint pivotally connecting the attachment section andthe shin section, and an ankle joint pivotally connecting the shinsection and the foot section, the knee joint including a dynamicallyadjustable knee flexion control device for damping knee flexion, whereinthe prosthesis further comprises a plurality of sensors each arranged togenerate sensor signals indicative of at least one respective kinetic orkinematic parameter of locomotion or of walking environment, and anelectronic control system coupled to the sensors and to the knee flexioncontrol device in order dynamically and automatically to modify theflexion control setting of the knee joint in response to signals fromthe sensors, including from one of the said sensors which is operable togenerate inclination sensor signals indicative of ground inclination,and wherein the arrangement of the sensors, the electronic controlsystem and the knee flexion control device is such that when theinclination sensor signals indicate descent of a downward incline, thedamping resistance of the knee flexion control device is set to a firstlevel during a major part of the stance phase of the gait cycle and to asecond, lower level during a major part of the swing phase of the gaitcycle, and wherein, during an interval including a latter part of thestance phase, the knee flexion control device is adjusted so that thedamping resistance to knee flexion is between the first and secondlevels.

In contrast, in the preferred embodiment, the arrangement is such thatin a level walking mode or ramp-up mode, the damping resistance of theknee flexion control device is switched substantially directly from thefirst level or one similar thereto to the second level or one similarthereto. In other words, switching of the knee flexion dampingresistance to the second level is delayed in the ramp-down mode, ascompared to the switching in the level walking mode, by virtue of anadjustment of the knee flexion control device to one or moreintermediate resistance levels. This allows to give some additionalsupport at the end of stance phase while not preventing the initiationof swing phase in a controlled manner.

It is preferred that signals fed to the knee flexion control devicecause the flexion resistance to be reduced in a step change at the startof the said interval to a third, predetermined intermediate levelbetween the first level and the second level, and to be reduced in afurther step change at the end of the said interval to the second level.Alternatively, the signals fed to the knee flexion control device duringthe said interval cause the knee flexion damping resistance to beprogressively reduced from the first level to the second level.

Typically, the duration of the said interval is at least 10 percent ofthe duration of the stance phase (the stance phase ending at toe-off,i.e. the point at which the foot section leaves the ground). Morepreferably, the interval is at least 15 percent of the stance phaseduration and may be in excess of 20 percent. It is also preferred thatthe interval spans the toe-off point, beginning at or shortly after ashin bending moment maximum and ending as the knee flexion angle isincreasing during the swing phase of the gait cycle. In the preferredembodiment, the interval ends when the knee flexion angle has increasedto a predetermined threshold at between 30 percent and 70 percent of themaximum knee flexion angle achieved in the swing phase.

In the ramp down mode, the electronic control system preferably followsa ramp down resistance program controlling switching of the knee flexioncontrol device from the first level to the third level and from thethird level to the second level. Switching of the knee flexion dampingresistance from the first level to the third level may be performed inresponse to a measured kinetic parameter, e.g. a moment or force,preferably the shin bending moment. Switching of the knee flexiondamping resistance to the second level at the end of the interval ispreferably performed in response to a measured kinematic parameter, e.g.a relative linear or angular displacement of one limb segment withrespect to another, or related derivatives, e.g. velocities oraccelerations. In the preferred embodiment, the kinematic parameter isthe measured knee angle or an equivalent thereof.

The invention will now be described by way of example with reference tothe drawings, in which:—

FIG. 1A is a side elevation of a lower limb prosthesis in accordancewith the invention;

FIG. 1B is a longitudinal cross-section of a knee joint of theprosthesis of FIG. 1A;

FIG. 1C is a schematic representation of hydraulic and pneumaticcircuits in a knee flexion control device in the knee joint of FIG. 1B.

FIG. 1D is a longitudinal cross-section of a foot/ankle assembly of theprosthesis of FIG. 1A;

FIG. 2 is a block diagram of an electronic control system, together withsensors, for the prosthesis of FIG. 1;

FIG. 3A is a Venn diagram indicating different activity modes definedwithin the electronic control system, and their interrelationships;

FIG. 3B is a finite state diagram indicating the different activitymodes defined within the electronic control system, and transitionsbetween the modes;

FIG. 3C is a flow chart illustrating a typical set of operationsperformed by the electronic control system and flexion control devicesof the prosthesis;

FIG. 3D is a first series of more detailed finite state diagrams used bythe electronic control system;

FIG. 3E is a second series of more detailed finite state diagrams usedby the electronic control system;

FIGS. 4A to 4D are representations of a multiple-layer matrix groupdefining relationships between input conditions derived, e.g., fromsensed kinetic and kinematic parameters of locomotion, and outputs forflexion control devices forming part of the prosthesis of FIG. 1, FIG.4A showing a main matrix and FIGS. 4B, 4C and 4D showing lower-levelmatrices for, respectively, walking up a ramp, walking down a ramp, andwalking at different speeds on a level surface;

FIGS. 5A to 5D are graphs illustrating the variation of selectedparameters over the course of the walking gait cycle; and

FIG. 6 is a composite graph illustrating the variation of knee flexiondamping resistance in a ramp down mode.

Referring to FIG. 1A, a lower limb prosthesis in accordance with theinvention has an attachment section 10 for attaching the prosthesis to,for instance, a stump socket (not shown), a shin section 12 and a footsection 14. The shin section 12 is linked to the attachment section 10by a knee joint 16 which, in this case, is a uniaxial knee jointincorporating a flexion control device 18 housed in a knee cradle 20 towhich the shin section 12 is attached. Linking the foot section 14 tothe shin section 12 is an ankle joint 22 incorporating an ankle flexioncontrol device which will be described hereinafter.

The knee joint 16 is shown in more detail in FIG. 1B. Referring to FIG.1B, the knee joint has a knee chassis 25 to which the attachment section10 is rigidly mounted and carries a pivot 27 defining a knee axis 28.The shin cradle 20 is attached to the knee chassis 25 by the pivot 27 sothat, when the knee joint is flexed, the shin cradle 20 pivots relativeto the attachment section 10 about the knee axis 28.

Pivotally coupled to a posterior part of the knee chassis 25 and to alower part of the shin cradle 20 by upper and lower control devicepivots 30, 32, the knee flexion control device 18 is in the form of ahybrid pneumatic and hydraulic piston and cylinder assembly forcontrolling both flexion and extension of the knee joint. Being a hybridcontrol device, it comprises a housing having two cylinders and twopistons, the latter both being mounted on a common piston rod 18R.Referring to FIG. 1B in conjunction with FIG. 1C, a first piston 18A,hereinafter referred to as the “pneumatic piston” is reciprocable in afirst pneumatic piston chamber 18B, and a second piston 18C, hereinafterreferred to as the “hydraulic piston” is reciprocable in a second,hydraulic chamber 18D. The arrangement and function of the pneumaticpiston 18A and associated parts of the flexion control device aregenerally similar to those of the piston and cylinder assembly disclosedin published British Patent Application GB2280609A. The pneumatic piston18A contains a bypass passage 18E including a non-return valve which isoriented such that the pneumatic piston 18A resists movement of thepiston rod 18R much more during flexion of the knee joint than duringextension. Indeed, in this region, resistance to extension isnegligible. Resistance of the pneumatic part of the control device 18 toflexion at the knee joint is controlled by a needle valve 18N which isadjustable by a first electrical stepper motor 34 and an associatedscrew-threaded shaft 34A connected to the needle member of the needlevalve. The needle valve 18N lies in a passage 18P in a lower housingpart 18F of the control device 18, the passage interconnecting the upperand lower parts of the pneumatic chamber 18B on opposite respectivesides of the pneumatic piston 18A, and emerging to the outside at a port(not shown) at the top of the pneumatic chamber 18B. Operation of themotor 34 causes the shaft 34A to move axially so that the needle membermoves into or out of a passageway forming part of the passage 18P tovary the orifice area.

The passage 18P constitutes a second bypass passage interconnecting thechamber spaces on opposite sides of the pneumatic piston 18A. It will beunderstood, then, that the flexion resistance provided by differentialpressure across the piston 18A depends largely on the restrictioncreated by the setting of the needle valve 18N by the motor 34.

A first hydraulic bypass passage 18L contains a non-return valve 18Moriented so as to close the passage during knee extension movements. Thepassage 18L also contains an adjustable rotary valve 18O connected via agear mechanism to a second electric motor 50 mounted on the side of thehousing 18F of the knee flexion control device 18. Variable valve 18Ohas a through-passage which communicates with the bore of the bypasspassage 18L to a varying degree depending on the angular position of thevalve 18O, the cross-section of the passage being shaped to provide aprogressive change in orifice area as the rotatable part of the valve isdriven by the motor 50.

Owing to the orientation of the non-return valve 18M, the firsthydraulic bypass passage 18L and its associated adjustable valve 18Ocontrol the level of knee flexion resistance due to the hydraulic partof the control device 18 according to the electrical signals controllingthe motor 50.

A second hydraulic bypass passage 18Q in the hydraulic part of thecontrol device 18 has a non-return valve 18S which is oppositelyoriented to that of the first bypass passage 18L such that a secondrotary valve 18T, which restricts the flow of hydraulic fluid throughpassage 18Q, controls the resistance to knee extension when activated.In this embodiment of the invention, the second rotary valve 18T ismanually presettable.

The second hydraulic bypass passage 18NQ is branched into two passages18QA, 18QB which are ported into the hydraulic chamber 18D at differentlocations so that one of the branches 18QA is covered by the piston 18Cas the knee joint nears full extension. The other branch 18QB remainsuncovered substantially to full extension. This second branch 18QB has arestriction 18U, whereas the first branch 18QA is open, so that as thepiston 18C nears the full extension position, the restriction 18U takeseffect over a final portion of the piston stroke, as the piston itselfrestricts fluid flow through passage 18QB, to provide progressiveterminal impact damping. The base resistance to extension is determinedby the setting of the manually adjustable second rotary valve 18T.

Activation of the hydraulic valve 18O is controlled by an electroniccontrol system, as described below, in order that, at least during thestance phase of the walking gait cycle, the knee flexion control deviceprovides predominantly hydraulically controlled flexion and extension,whereas during the swing phase, the control is predominantly pneumatic.

As part of the electronic control system, the shin cradle 20 carries twostrain gauges 52, 53, one mounted on an anterior wall of the cradle 20and the other on an opposite posterior wall. These sensors are used formeasuring the shin bending moment when the prosthesis is loaded. Theknee joint also carries a knee angle sensor in the form of amagnetoresistive transducer 54A mounted on the side of the knee controldevice housing 18F and a magnet 54B on the piston 18A.

In the upper anterior part of the shin cradle, space is provided for abattery 56 for powering the electronic control system.

Referring now to FIG. 1D, the preferred prosthesis has a foot keel 62comprising a rigid carrier 62A. Independently coupled to the rigidcarrier 62A are a toe spring 62B and a heel spring 62C. The keel 62 islargely formed from carbon fibre composite material and can besurrounded by a foam cosmetic covering (not shown).

Coupled to the foot keel 62 is the ankle joint 22 which is substantiallycylindrical in shape and coaxial with the shin section 12 (see FIG. 1A),the ankle joint carrying an upper alignment interface 64 in the form ofa pyramid-shaped shin connection interface 64 which defines alongitudinal shin connection axis 66. The ankle joint 22 connects theshin section 12 to the foot keel 62A of the foot 60, the mounting to thefoot keel 62A being by way of an ankle flexion pivot 70 defining anankle flexion axis 70A.

The ankle joint 22 has an ankle joint body 22B which forms the cylinderof an ankle joint piston and cylinder assembly having a piston 74 withupper and lower piston rods 74A, 74B, the lower piston rod beingpivotally connected to the foot keel 62A at a second pivotal connection76, this second pivotal connection defining a second medial-lateral axiswhich is spaced, in this case, posteriorly from the flexion axis 70A. Itwill be seen that, as the ankle joint body 22B pivots about the flexionaxis 70A, the piston 74 moves substantially linearly in the cylinderformed by the body.

The cylinder is divided into upper and lower chambers 78A, 78B. Thesechambers are linked by two bypass passages 80 in the ankle joint body22B, one of which is visible in FIG. 1D. The other passage does notappear in FIG. 1D since it is located in front of the sectional plane.However, its configuration is almost identical. These two bypasspassages 80 each communicate with both the upper chamber 78A and thelower chamber 78B of the cylinder via two valves. Each contains arespective damping resistance control valve 82 which has an associatedactuator in the form of a servo motor 84. Operation of the servo motor84 rotates a valve member of the valve 82 progressively to increase ordecrease the orifice area of the valve 82. Each bypass passage 80 alsocontains a respective non-return valve 86. This adjustable-area orificevalve 82 and the non-return valve 86 are arranged in series in thebypass passage 80, between the upper and lower cylinder chambers 78A,78B.

The bypass passage 80 appearing in FIG. 1D has its non-return valve 86oriented to allow the flow of hydraulic fluid from the lower chamber 78Bto the upper chamber 78A. The other bypass passage (not shown) has itsnon-return valve oriented in the opposite direction. Accordingly, one ofthe passages 80 is operative during dorsi-flexion and the other duringplantar-flexion. Continuous yielding movement of the foot component 14relative to the ankle joint body 22B about the flexion axis 70A ispossible between dorsi-flexion and plantar-flexion limits defined by theabutment of the piston 74 with, respectively, the lower wall and theupper wall of the cylinder containing the piston 74. The level ofdamping for dorsi-flexion and plantar-flexion is independently andautomatically presettable by the respective adjustable-area orifices bymeans of the electronic control system described below.

The electronic control system has a sensor 85 in the form of anaccelerometer mounted on the foot keel 62A and a two-part ankle flexionangle sensor 87A, 87B, the two parts being mounted in registry with eachother on the ankle joint body 22B and the foot keel 62A. The ankle jointcasing 22C not only houses the two servo motors 84 for the adjustabledamping resistance control valves 82; they also provide space for aprocessor board 90 and a second battery 92. Wires 94 link the ankleflexion angle sensor 87A, 87B to the processor board 90. Other wires(not shown) link the other sensors, the batteries, and the motors of theknee joint to the processor board 90.

Referring, now, to FIG. 2, the preferred electronic control systemcomprises a processor section 100 with three 8-bit microprocessorcontrollers. (16-bit controllers may be used as an alternative.) Thecontrollers comprise a main controller 102 coupled to two slavecontrollers, these being a knee controller 104 and an ankle controller106. Coupled to an input port 102A of the main controller 102 is ananalogue to digital converter 108 with a plurality of inputs shown as aninput port 108A in FIG. 2. These comprise analogue inputs for receivingsensor signals from the above-described sensors located in differentparts of the prosthesis. Accordingly, the data received by thecontroller 102 is representative of a number of kinetic and kinematicparameters associated with use of the limb in different activity modes.The activity modes, such as level walking, walking on an incline,standing, sitting down, etc. are detected on the basis of suchparameters by the main controller 102, as described below, in accordancewith preset rules.

According to further rules stored in the main controller 102,instructions are fed therefrom to the knee controller 104 and the anklecontroller 106 which generate control signals for knee and ankle motordrivers 110, 112. The motors 34, 50 associated with the knee joint, asdescribed above with reference to FIG. 1B, exchange signals with theprocessor section 100 via connections 114 with the first of the drivers110, including driver signals for driving the knee motors to requiredpositions which are verified by feedback signals via the connections114. As described above, the knee motors 34, 50 set the valvescontrolling the movement of the pneumatic piston and the hydraulicpiston in the respective parts 18P, 18L of the knee control device 18(see FIG. 1B).

Similarly, the ankle motors 84 (described above with reference to FIG.1D) exchange signals with the processor section 100 via connections 116to the second driver 112, the signals comprising driving signals andfeedback signals in order that the ankle motors 84 set the valvescontrolling the movement of the hydraulic piston in the ankle jointcontrol device 22H contained in the ankle joint 22, as described abovewith reference to FIG. 1D.

A user interface 120, coupled to the processor section 100, comprises awireless communication section for exchanging wireless signals with a PCor tablet computing device. Programming can also be done by a definedHMI (operator interface) using, e.g. two buttons, an LED, and a beeper,indicating the status of programming.

The control system uses open architecture, both in hardware and softwareterms to allow parts to be added or to accommodate, for instance,alternative or additional input and output signals, e.g. for signalsfrom another electronic control system in, e.g. a second lower limbprosthesis in the case of a bilateral amputee. This open architectureprovides a technology platform with plug-in modules that can be changedaccording to requirements. For instance, in the case of a bi-lateralamputee information about the second limb is provided. Sensor data fromother sensors may be provided. However, the bilateral option shall notonly include communication possibilities for a double transfemoral(above-knee) amputee, for example, but also communication between atransfemoral prosthesis and a transtibial (below-knee) prosthesis whichmeans, in effect, communication between a processor-controlledfoot/ankle joint is possible as this is beneficial for the overall gaitperformance and coordination. Overall sharing of information betweendifferent joints and/or components in various combinations andconfigurations is possible owing to the open-architecture approach.

The main controller 102 is programmed to derive from the digitalrepresentations of the sensor signals kinetic or kinematic parameters oflocomotion thereby to measure gait characteristics such as velocityincluding information about the relevant parameters step rate and stridelength, and gait phase, and the step-to-step variability in suchcharacteristics, thereby to produce control signals from the knee andankle controllers 104, 106 to modify the settings of the knee and anklejoint control devices so as to optimise the gait of the amputee.

Included in the programming of the main controller 102 is aself-calibrating routine, as described in the above-mentioned EP1334891and WO2007/110585, for convenient and straightforward modification ofthe control characteristics for the individual amputee. Velocity, i.e.the speed of locomotion, in particular walking speed or gait cyclefrequency, and gait phase are preferably computed from the outputs ofthe knee angle sensor 54A and the bending moment strain gauges 52, 53,although in some circumstances, these parameters may be derived from theoutputs of a gyroscope 88 mounted, e.g. on the shin section and theaccelerometer 85 mounted at the foot level. Changes in the walkingsurface and the velocity of the foot in the global reference frame(kinematic changes) are preferably measured using the signals from theaccelerometer 85 and the ankle angle sensor 87 to drive modification ofthe settings of the control device of the ankle joint 22 (FIG. 1D), asdescribed in the above-mentioned WO2008/103917.

The main controller 102, collecting data derived from the outputs ofsensors associated with both the knee joint and the ankle joint, i.e.from different regions of the prosthesis, allows improved control of theknee joint and ankle joint control devices and advanced analysis of gaitand mode based on a combined representation of data relating todifferent regions of the prosthesis. The main controller 102 sendsdirect commands and additional gait-related information to the kneecontroller 104 and the ankle controller 106 which act, effectively, asslave controllers in a hierarchical, distributed control system. Theknee controller 104 and the ankle controller 106 do, however, have someautonomy for safety should, for instance, no valid signals beforthcoming from the main controller 102.

The main controller 102 has a non-volatile memory for storing values ofa limb control matrix relating input conditions derived from the sensorsignals and output data which is used by the main controller and theslave controllers 104, 106 to determine the control signals for theflexion control devices 18A, 18C, 74. Matrix values can be downloadedfor external storage and communication via the user interface 120 aswell as being reloaded from external devices. Alternatively, controlmatrix values may be stored locally in the non-volatile memory of theslave controllers 104, 106, the main controller 102 having access tothese values and the ability to change them.

The processor section 100 operates on a finite-state control basis.Referring to FIG. 3A, the status of the main controller 102 (FIG. 2) isdefined according to a series of activity modes. These activity modesare grouped as modes 124 associated with level walking, ramp modes 125,standing modes 126, stairs modes 127, and other modes 128, such as anobstacle mode, a special mode, and an error mode. The intersections ofthe Venn diagram areas are indicative of the transitions which may bemade from one mode to another. Other transitions such as going from rampdown to ramp up directly are also possible. The preferred finite-statecontrol possibilities are shown more clearly in FIG. 3B. In this case,the modes include a Normal Walking mode 130, a Ramp Up mode 132, a RampDown mode 134, and so on, as shown in the diagram. The list of modes inthe diagram is not exhaustive. The Normal Walking mode is configures asthe central point of the diagram. As shown by the interconnectionsbetween the different modes, the main controller switches or transitionsfrom one mode to another, according to sensor inputs received as sensordata from the analogue to digital converter (ADC) 108 (FIG. 2). Therules programmed into the main controller 102 then determine how theknee motors 34, 50 and ankle motors 84 (FIG. 2) are driven in responseto the change of mode and in response to other changes in the dataobtained from the sensors.

Thus, for instance, as shown in FIG. 3C, the commencement of walkingdown an incline after a period of walking on the level may be detectedand responded to by the following steps:

-   -   The foot sensors (the accelerometer 85 and the ankle flexion        angle sensor 87 (FIGS. 1D, 2)) generate sensor signals        indicative of a change in ground inclination (step 140).    -   The main controller 102 and/or the ankle controller 106 analyze        the digitized versions of the sensor signals and determine that        the surface has changed to a downwardly inclined ramp (step        142).    -   Based on a stored matrix of relationships between, on the one        hand, activity mode and kinetic or kinematic parameter values        and, on the other hand, respective flexion control resistances,        the change in mode is translated into new settings for the knee        and ankle motors (step 144).    -   Via the motor drivers 110, 112, the knee motors 34, 50 and ankle        motors 84 (FIG. 2) are driven to the new respective settings        which, in this case, involves driving the servomotor 50 to a new        setting in which the hydraulic part of the knee joint control        device 18 is set to provide intermediate yield in the Ramp Down        mode and the pneumatic part of the control device 18 is driven        to different settings according to walking speed, in the same        way as in the level walking (normal walking) mode (step 146).        Concurrently, the ankle motor settings are changed to increase        the dorsi-flexion resistance provided by the ankle joint control        device and to reduce the plantar-flexion resistance (step 148).

Similar basic sequences apply to the other mode transitions shown inFIG. 3B, the sensors used and the actions performed being governedaccording to the sensed modes. In this embodiment, the settings to whichthe actuators are driven are governed by a 6×5 main matrix, as shown inFIG. 4A, and three N×5 lower level matrices, as shown in FIGS. 4B, 4Cand 4D. The matrix rows correspond to different activity modes (listedin the left-hand column in each case), and the matrix columns indicatethe settings of the four above-described flexion resistance controldevice parts, those of the hydraulic part of the knee control devicebeing indicated for the swing and stance phases separately The fiveprimary resistance settings are adapted according to the individualamputee. The normal settings for the ankle joint (foot) plantar-flexionand dorsi-flexion resistances in the FIG. 4A matrix are moderateresistance settings for normal, medium-speed Level Walking as shown inFIG. 4D. The normal setting of the knee joint is that shown in a “LevelVelocity” mode in FIG. 4A and is characterised by high hydraulicresistance during stance and low hydraulic resistance during swing, andvariation of pneumatic flexion resistance according to walking speed.

In practice, the matrix for each mode or event is composed of fiveprimary values, as shown in the columns of the tables of FIGS. 4A to 4D.In several instances, bands of values are pre-programmed to provide arange of values from which a particular value is selected in each caseto suit the amputee.

The main modes are those appearing in the left-hand column of FIG. 4A,i.e. Ramp Up, Ramp Down, Level Velocity (Level Walk), Stairs Down, StandRelaxed, and Sitting. In FIG. 4A, the asterisk (*) indicates theexistence of sub-modes, these appearing in FIGS. 4B, 4C and 4Drespectively. The values in the body of each matrix represent the levelto which flexion (or extension) of the respective joint is resisted.Thus, “VL” means very low resistance, “L” means low resistance, “M”means medium resistance, “H” means high resistance, and “VH” means veryhigh resistance. “M/H” means a resistance level between medium and highresistance, while “H−” is resistance which is a little bit less thanhigh resistance, and “H+” means resistance a little higher than a highresistance. “VL−”, “L−”, “L+” and “VH+” are to be correspondinglyinterpreted.

With regard to the knee hydraulic settings, the dollar sign $ at thehead of the respective columns means that when the knee control deviceresistance value is not indicated explicitly (i.e. by a single value)the resistance is switched between two levels, (a) between typically Hor H− and M or (b) as the toe is loaded to select the lower value, andas the limb is extended to select the higher value. With regard to thesetting of the pneumatic part of the knee control device, the hash sign# at the head of the column indicates that when the resistance value isnot explicitly indicated, the pneumatic part of the control deviceadapts automatically to the speed of walking, regardless of the surfaceor other conditions.

Accordingly, in the “Level Velocity” mode, for level walking, theresistance due to the pneumatic part of the knee control device variesfrom low to high according to walking speed, as shown in FIG. 4D.Indeed, the pneumatic resistance may increase to VH for very fast levelwalking. Resistance to plantar-flexion and dorsi-flexion at the ankleduring the velocity/level walking mode, as indicated in FIG. 4D,according to speed.

Referring back to the main matrix of FIG. 4A, it will be seen that theresistance values for Ramp Up and Ramp Down differ in certain respectsto those for the Velocity/Level Walk mode. Thus, for instance, theresistance to plantar-flexion at the ankle is lower, generally, whendescending a ramp than during level walking, and higher when ascending aramp. Dorsi-flexion resistance at the ankle tends to be higher whendescending a ramp and lower when ascending. However, at the same time,these values vary according to speed/velocity and according to thesteepness of the ramp, and during transitions between modes, asindicated in the sub-matrices of FIGS. 4B and 4C.

Referring to FIG. 4C, in both the stance and swing phases of the RampDown mode, an intermediate hydraulic resistance level (M) is indicated.This level is set by the knee flexion control device to occur during aninterval comprising a latter part of the stance phase and an initialpart of the swing phase. Thus, during each gait cycle in the Ramp Downmode, the transition from stance to swing is characterised by a stepwisereduction from the high (H or H−) level to the low (L) level, theinterval during which the intermediate (M) level applies spanning thetoe-off point at the end of the stance phase. This increased yielding ofthe knee joint towards the end of the stance phase aids descent. Themain benefit in the ramp down mode is that the change between theflexion resistances between high and low (which is the normal profile inother modes) is reduced (high to intermediate and then to low during theend part of the stance phase). This creates, firstly, some extra supportas the amputee has some added resistance at the end of stance.Able-bodied people then tend to use their muscles to brake slowly goingdown a ramp so that they don't accelerate or only accelerate in acontrolled matter. The amputee doesn't have this ability with theprosthetic limb. Secondly, the foot and ankle already brake going down aramp but the additional resistance at the knee at end of the stancephase gives the amputee a feeling of extra security and grip and has thepotential beneficially to decelerate the amputee.

It should be noted that no reduction of flexion damping resistanceoccurs at the knee during descent of a steep ramp, as shown by the SteepRamp sub-modes in FIG. 4C. In this sub-mode, there is little or noloading of the toe because the amputee uses knee yield to descend thesteep ramp.

Each basic mode described above with reference to FIGS. 3A and 3B andFIGS. 4A to 4D has associated transition states, as indicated by themore detailed finite state diagram of FIGS. 3D and 3E. In addition, inthis embodiment, the basic modes are divided into further sub-modes. Togive examples from FIGS. 3D and 3E, therefore, the normal walking mode130 has three such sub-modes: Normal Steps 130A, Small Steps 130B andLarge Steps 130C. There are respective transitions 130T between thesesub-modes. As just mentioned, other basic modes include transitionstates. For example, referring to FIGS. 3E and 4C, the Ramp Down mode134, in addition to being divided into sub-modes Ramp Down 134A andSteep Ramp Down 134B, has a transition state Transition Ramp Down 134Cto allow definition of intermediate settings of the flexion controldevices to provide a smoother transition from the Ramp Down mode 134 tothe Normal Walking mode 130, and vice-versa. Transitions normally haveassociated values which are set by interpolation between the values ofthe starting mode and those of the finishing mode in each case.Additional Ramp Down sub-modes are provided for slow and fast walkingvelocities.

Similar sub-modes exist for the Ramp Up mode (see FIG. 3E).

Additional transition states and corresponding actuator settings (i.e.control device settings) are related to each other in further layers(not shown) of the matrix represented by the table of FIG. 4A. Forexample, getting up from a chair, as illustrated by theSit-Down-Stand-Up Mode state 155 in the finite state diagram of FIG. 3D,uses a set of output settings from one layer of the matrix and then,moving to the Stand Relaxed mode 157, from another matrix layer, ormoving to the Slow Walking mode (a sub-mode 160A of a Velocity mode 160(in effect walking which is other than normal walking)) requiretransition states Transition Sit 155A, Stand Up 155B, and TransitionWalking (a sub-mode 157C of the Stand Relaxed mode 157) Thesetransitions avoid the need to compensate for or accommodate suddenchanges so that the limb operation is as nearly possible seamless andsmooth as the amputee moves from one activity mode to the other. Eachmatrix has a set of relationships associating and linking modes, eventsand transitions with different control settings for implementation inreal time.

The control system open architecture allows the programming ofadditional matrices, e.g. for defining control functions associated withadditional events or activities, as well as integration of additionaldata streams.

In general, when the control system is operating to indicate aparticular activity mode, it will continue to indicate that same modeuntil it receives a sensor signal which is interpreted as indicating atransition to a different mode.

The settings stored in the matrices described above with reference toFIGS. 4A to 4D, and the settings at other matrix levels (not shown) ofthe matrix are adjusted to suit the individual amputee during acalibration program mode. A typical calibration routine for establishingthe matrix settings includes:—

-   -   1. Level walking with different velocities    -   2. Level walking—starting and stopping    -   3. Walking up and down a ramp at different velocities and with        different gradients    -   4. Walking up and down stairs    -   5. Level walking with different disturbances    -   6. Sitting down and getting up from and to walking and standing    -   7. Other activity modes

The system does allow for calibration on the basis of tests 1., 2., and,preferably, 3. above only, default values for bands of values that areadjusted according to the level walking values being set for activitiesassociated with tests which have not been carried out, e.g. owing to alack of facilities.

The calibration may be performed by a prosthetist feeding settings tothe prosthesis using the user interface 120 (FIG. 2). As an alternative,or in addition, depending on the mode of activity in question, aself-adjustment, self-programming or automatic calibration phase may beincluded whereby the control system provides a series of trial settingsfor particular activity modes.

A particular technique used in the calibration program mode of thepreferred embodiment makes use of the variation of the shin sectionbending moment, as sensed by the strain gauges 52, 53 (FIG. 1B) to setplantar-flexion resistance and dorsi-flexion resistance of the ankleflexion control device. In particular, one or both flexion controlsettings of the ankle joint are modified to achieve a predetermined shinbending moment profile, i.e. the variation of the sensed shin bendingmoment with time during individual stance phases of the walking gaitcycles. Similarly, the ankle joint plantar-flexion resistance and/ordorsi-flexion resistance may be changed in response to the sensed footangle, as sensed by the angle sensor 87A, 87B (FIG. 1C) at the anklejoint to achieve a predetermined foot angle profile, i.e. variation offoot angle during the stance phase of the walking gait cycle. In somecircumstances, the sensed knee angle and foot acceleration may also beused.

FIGS. 5A to 5D indicate typical profiles for the knee angle, the footangle, the shin section bending moment, and the global foot accelerationduring the gait cycle. The horizontal axis in each graph is time withina gait cycle nominated to the value 1, so that the profile begins withheel contact, progresses through the stance phase to push off (at about0.6), then continues through the swing phase, and returns to heelcontact at 1. Each graph has four plots relating to differentcombinations of plantar-flexion (PF) and dorsi-flexion (DF) resistancesettings, as indicated, a higher number designation for the plotsrepresenting higher flexion resistance and a lower number representing alower respective flexion resistance. The applicants have found that thehigher the setting for plantar-flexion resistance, the sharper and morepeaked is the foot angle profile (see FIG. 5C). In addition, with highplantar-flexion resistance, the area below the foot angle profile plotis smaller. With higher dorsi-flexion resistance, the area below thefoot angle curve becomes rounder and larger. Also, the ratio ofplantar-flexion resistance to dorsi-flexion resistance affects thesymmetry of the curve and its integral beneath it from a normal value upto the peak, and back to the normal value again. The applicants havefound that the combinations of plantar-flexion and dorsi-flexionresistance settings which are preferred, in terms of amputee comfort andeffort, were PF6 DF6 and PF8 DF4 which, as can be seen from FIG. 5B,produce lower ankle dorsi-flexion amplitude profiles, both in terms ofpeak dorsi-flexion and the area under the respective part of the angleprofile in the stance phase.

The electronic control system, described above with reference to FIG. 2,makes use of the sensed foot angle profile by measuring both peak footangle and the dorsi-flexion integral in a process similar to thatdescribed above with reference to FIG. 3B to achieve the preferred footangle profile by adjusting the ankle joint control device flexionresistances. Accordingly, if the peak dorsi-flexion of the ankle jointduring the stance phase exceeds a predetermined threshold value, or thearea (corresponding to the integral) under the dorsi-flexion curve withrespect to time during the stance phase exceeds a predetermined areathreshold, the plantar-flexion resistance of the ankle flexion controldevice is increased and the stance phase dorsi-flexion resistance isdecreased. Similarly, if these peak and area values are too low, theplantar-flexion and dorsi-flexion resistances are driven in the oppositerespective directions.

In the present embodiment, integrals of the foot angle curve (i.e.dorsi-flexion angle of the ankle) are computed as follows:

-   -   A first integral, Integral 1, from a first foot angle value up        to the peak    -   A second integral, Integral 2, from the peak down to the        crossing of the first foot angle value line again    -   The ratios of Integral 1 to Integral 2 and the sum of the two        integrals obtained for different plantar-flexion and        dorsi-flexion resistances are typically as shown in Table 1

TABLE 1 Integral 1/Integral 2 Integral 1 + Integral 2 “PF 3 DF8” 0.7156.49 “PF 2 DF 2” 0.83 47.9  “PF 6 DF 6“ 0.94 44.85 “PF 8 DF 8”¹ 1.0940.58 “PF 8 DF 4” 1.2  34.19

The ankle joint control device resistances are driven to achieve a ratioof Integral 1 to Integral 2 of around 1 when both settings are in anequal range, i.e. bigger than 1 if the plantar-flexion resistance isgreater than the dorsi-flexion resistance and smaller than 1 if thedorsi-flexion resistance is greater than the plantar-flexion resistance.The sum of both integrals is larger the larger is the sum of thedorsi-flexion resistance and the smaller is the plantar-flexionresistance. When both plantar-flexion and dorsi-flexion resistance areapproximately equal, the lower the settings the larger is the sum.

Accordingly, the system also uses the ratio of different areas beneaththe foot angle profile, respectively when the dorsi-flexion angle isincreasing and when it is decreasing, as an input variable for settingthe dorsi-flexion and plantar-flexion resistances.

With regard to the shin bending moment profile shown in FIG. 5B, this issignificantly affected by the plantar-flexion and dorsi-flexionresistance settings at the ankle joint. With moderately lowplantar-flexion resistance and high dorsi-flexion resistance (PF3 DF8),the moment increases rapidly during the early part of the stance phaseand then, towards mid-stance, the gradient is relatively small so thatthe peak moment is relatively late in the stance phase. In contrast,with relatively high plantar-flexion resistance and somewhat lowerdorsi-flexion resistance (PF6 DF6), for example, the gradient in theearly stance phase is less steep and there is a step in the regiontowards mid-stance followed by another period of rapidly increasingmoment to the bending moment peak. The area under the bending momentcurve during the stance phase is affected by these different profiles,as indicated in Table 2 below, which tabulates the ratio of the curvearea for the first, second and third resistance combinations shown inFIG. 5B relative to that for the fourth combination, PF6 DF6. (Forcompleteness, similar ratios are tabulated in Table 2 for the foot angleand the ratio between the foot angle and shin bending moment.)

TABLE 2 Foot angle ratio in Bending moment ratio Ratio between relationto in relation to foot angle and “PF 6 DF 6” “PF 6 DF 6” bending moment“PF 3 DF 8” 1.34 1.08 0.78 “PF 2 DF 2” 1.15 1.02 0.71 “PF 8 DF 4” 0.830.93 0.56

The electronic control system of FIG. 2 computes the shin bending momentarea using signals from the strain gauges 52, 53 (FIG. 1B) to provide aninput for setting plantar-flexion and dorsi-flexion resistances.

An option in the preferred electronic control system is to divide thesensed shin section bending moment profile before the peak into threeperiods. Thus, the preferred profile has a first period in which themoment increases with a first gradient, followed by a second period inwhich the moment increases with a second gradient which is significantlyless than the first gradient, followed by a third period in which thegradient reverts to a level similar to that of the first period. This isthe profile which the applicants have found is most comfortable for thetypical amputee. Iterative adjustments of the stance phaseplantar-flexion resistance and dorsi-flexion resistance are made toachieve the preferred profile. The preferred profile is alsocharacterised by the third period being at least 80 percent of thesecond period, in terms of duration.

In the present embodiment, where the settings indicated by the sensedfoot angle are different from those indicated by the sensed bendingmoment, it is the settings indicated by the bending moment which aregiven precedence. It is possible, in variants of the invention, todispense with the sensed foot angle as a control input.

The adjustments in control device settings described above are performedduring the calibration program mode so that subsequently, duringlocomotion, the plantar-flexion and dorsi-flexion resistances areautomatically and dynamically set according to activity mode.

The control functions described above with reference to FIGS. 5A to 5Dare ones performed during level walking. These functions are performedin the same way when walking up slopes and walking down slopes although,under those conditions, values of the parameters illustrated in FIGS. 5Ato 5D are different.

Described above is the stepwise reduction of the knee flexion dampingresistance in the Ramp Down mode. Referring to FIG. 6, the variation inthe damping resistance at the knee in the Ramp Down mode is illustratedin conjunction with knee angle, shin bending moment, foot angle, andfoot acceleration curves. As shown, the flexion resistance 200 is highduring the major part of the stance phase. At or immediately after themaximum of the shin bending moment, indicated by the arrow M, the kneeflexion resistance is reduced to the intermediate level or an intervalwhich ends at or very shortly after the end of the stance phaseindicated by the arrow N, whereupon a further reduction in knee flexionresistance is effected to reduce the resistance level to the low (L)level indicated in FIG. 4C. The flexion resistance reverts to the highlevel in late swing, to prepare for commencement of the stance phase atheel strike, indicated by the arrow. Actuation of the first step wisereduction in resistance is performed in response to detection of anegative-gradient bending moment, derived from strain gauges mounted onthe shin section. The second step wise reduction in flexion resistanceis actuated in response to the knee angle reaching a predetermined kneeangle threshold in the early part of the swing phase, as sensed, forinstance by a piston/senor. Typically, the threshold at which the secondstep wise reduction in knee flexion resistance is a knee angle of 50percent of the maximum knee angle achieved during the swing phase. Thisprogrammed step wise reduction in knee flexion resistance is notperformed in the level velocity or Ramp Up modes. In those modesswitching occurs instantaneously between high and low resistancesettings towards the end of the stance phase. The duration of theinterval during which the flexion resistance is at the intermediatelevel in the ramp down mode is typically 25 percent of the stance phaseduration.

As shown in FIG. 6, and described above with respect to the stepwisechanges in resistance, in some embodiments, the damping resistance ofthe knee flexion control device may be configured to remain at a single,constant resistance level corresponding to the second, intermediateresistance level (M) for a second period of time.

In the preferred embodiment described above, the electronic controlsystem has a master microprocessor controller and two slavemicroprocessor controllers, one for the knee joint and one for the anklejoint. Alternative arrangements are possible. Indeed, all controlfunctions may be performed by a single microprocessor controller,preferably mounted at the knee level, the single controller collectingdata from sensors associated with both joints, as in the preferredembodiment, i.e. from different areas of the prosthesis. The singlecontroller would perform advanced analysis of gait and circumstances(i.e. environment, including ground inclination) based on sensor signalsfrom two or more areas of the prosthesis. Additionally, a singlecontroller would monitor the feedback signals from the knee and ankleadjustment motors rather than having such functions performed by slavecontrollers.

In a variant of the above-described prosthesis, the electronic controlsystem has a bi-lateral mode to allow intercommunication of two limbprostheses for bilateral amputees. In this case, the user interface 120(FIG. 2) incorporates a hard-wired interconnection incorporating a UARTport for communication with the second prosthesis. A wirelesscommunication port may be used instead. The matrices of FIGS. 4A to 4Dare expanded for the bi-lateral mode so that both prostheses aresynchronised to provide correct damping levels at the knee and the anklein each case. The high-yield resistance setting for stance controlrelease is timed to be in phase with the initiation of high-yieldresistance in the other prosthesis. Similarly, pneumatic swing controlsare also adjusted for different speeds for right and left limbs.Plantar-flexion damping of the ankle is synchronised with dorsi-flexiondamping of the other limb to provide natural progression and optimumfunction.

1-16. (canceled)
 17. A lower limb prosthesis comprising: an attachmentsection, a shin section, a foot section, a knee joint pivotallyconnecting the attachment section and the shin section, the knee jointincluding a dynamically adjustable knee flexion control device fordamping knee flexion, an ankle joint pivotally connecting the shinsection and the foot section, the ankle joint including a dynamicallyadjustable ankle flexion control device for damping ankle flexion, afirst sensor associated with the ankle joint and which is operable togenerate inclination sensor signals indicative of ground inclination, asecond sensor associated with the knee joint and which is operable togenerate speed sensor signals indicative of speed of locomotion, and anelectronic control system coupled to the sensors and to the knee andankle flexion control devices in order dynamically and automatically tomodify a flexion control setting of the knee joint and a flexion controlsetting of the ankle joint in response to signals from the sensors,wherein arrangement of the sensors, the electronic control system andthe knee and ankle flexion control device is such that when theinclination sensor signals indicate walking on an incline the dampingresistance of the knee flexion control device and the damping resistanceof the ankle flexion control device are each adjusted jointly based onthe ground inclination and the speed of locomotion.
 18. A lower limbprosthesis as claimed in claim 17, further comprising one or morefurther sensor associated with the ankle joint and one or more furthersensor associated with the knee joint.
 19. A lower limb prosthesis asclaimed in claim 18, wherein one or more of the further sensors generatea sensor signal indicative of a shin or ankle bending moment, thearrangement of the sensors, the electronic control devices and theelectronic control system being such that, during locomotion, theflexion control settings of the knee joint are adjusted in response tothe shin or ankle bending moment.
 20. A lower limb prosthesis as claimedin claim 18, wherein one of the sensors associated with the ankle jointis an accelerometer mounted on a prosthetic foot section, the flexioncontrol setting of the knee joint being adjusted in response to signalfrom the accelerometer.
 21. A lower limb prosthesis as claimed in claim18, wherein signals representative of stride length and/or step rate aregenerated in the electronic control system in response to signals fromthe sensors associated with the ankle joint.
 22. A lower limb prosthesisas claimed in claim 17, wherein the knee flexion control devicecomprises a pneumatic piston mounted on a piston rod which isreciprocable in a pneumatic piston chamber having upper and lower partson opposite sides of the pneumatic piston.
 23. A lower limb prosthesisas claimed in claim 22, wherein resistance of the pneumatic piston toflexion is controlled by a needle valve in a passage interconnecting theupper and lower parts of the pneumatic piston chamber, the needle valvehaving a needle member and being adjustable by an electrical steppermotor and an associated screw-threaded shaft connected to the needlemember of the needle valve.
 24. A lower limb prosthesis as claimed inclaim 22, wherein the pneumatic piston contains a pneumatic bypasspassage including a non-return valve which is oriented such that thepneumatic piston provides negligible resistance to knee extension.
 25. Alower limb prosthesis as claimed in claim 22, wherein the knee flexioncontrol device further comprises a hydraulic piston mounted on thepiston rod which is reciprocable in a hydraulic piston chamber.
 26. Alower limb prosthesis as claimed in claim 25, wherein during a stancephase of a walking gait cycle, the knee flexion control device providespredominantly hydraulically controlled flexion and extension and duringa swing phase of the walking gait cycle the knee flexion control deviceprovides predominantly pneumatic controlled flexion.
 27. A lower limbprosthesis as claimed in claim 17, wherein the ankle joint includes adynamically adjustable hydraulic ankle flexion control device having apiston which is reciprocable in a cylinder to define upper and lowerchambers which are linked by a pair of passages, the hydraulic ankleflexion control device being arranged to provide independent adjustmentof dorsi-flexion and plantar-flexion damping resistance.
 28. A lowerlimb prosthesis as claimed in claim 27, wherein the electronic controlsystem is further coupled to the ankle flexion control device in orderdynamically and automatically to modify the flexion control setting ofthe ankle joint in response to signals from the sensors, whereinarrangement of the sensors, the electronic control system and the ankleflexion control device is such that when the inclination sensor signalsindicate ascent of the upward incline, the dorsi-flexion dampingresistance of the ankle flexion control device decreases as the speed oflocomotion increases.